Virtual Reality Interaction Method, Virtual Reality Interaction Apparatus, Virtual Reality Display Apparatus, and Computer-Program Product

1. A virtual reality interaction apparatus, comprising: a memory; and one or more processors; wherein the memory and the one or more processors are connected with each other; and the memory stores computer-executable instructions for controlling the one or more processors to: determine a pupil position in a reference pupil image of a user; determine a gaze point in a virtual image based on the pupil position in the reference pupil image and a mapping relationship between first coordinates in a first coordinate system of the reference pupil image and second coordinates in a second coordinate system of the virtual image; determine whether the gaze point is in an activatable region of the virtual image; determine a gaze state of the user; and execute an operation based on a determination that the gaze point is in an activatable region of the virtual image and a determination of a gaze state; wherein, to determine the mapping relationship, the memory further stores computer-executable instructions for controlling the one or more processors to: select a first calibration point, a second calibration point, and a third calibration point in the virtual image, the first calibration point, the second calibration point, and the third calibration point being non-collinear; display the first calibration point in a first calibration virtual image, the second calibration point in a second calibration virtual image, and the third calibration point in a third calibration virtual image; determine a first calibration pupil position in a first calibration pupil image captured when the user is gazing at the first calibration point in the first calibration virtual image, a second calibration pupil position in a second calibration pupil image captured when the user is gazing at the second calibration point in the second calibration virtual image, and a third calibration pupil position in a third calibration pupil image captured when the user is gazing at the third calibration point in the third calibration virtual image; and calculate a gaze calibration coefficient based on the first calibration pupil position, the second calibration pupil position, the third calibration pupil position, and positions of the first calibration point, the second calibration point, and the third calibration point in the virtual image.

2. The virtual reality interaction apparatus of claim 1 , wherein the memory stores computer-executable instructions for controlling the one or more processors to: determine whether the gaze point is in the activatable region of the virtual image; and determine the gaze state of the user.

3. The virtual reality interaction apparatus of claim 1 , wherein the memory further stores computer-executable instructions for controlling the one or more processors to: perform a noise filtering process on the reference pupil image to generate a filtered image; separate an image of pupil from the filtered image; remove interference points from the image of pupil; ellipse fit edge points of the image of pupil subsequent to removing the interference points to obtain an elliptical pupil region; and calculate a central point of the elliptical pupil region, thereby determining the pupil position.

4. The virtual reality interaction apparatus of claim 1 , wherein the gaze calibration coefficient is expressed as: X scale = ( x O - x A ) + ( x B - x O )  x O ′ - x A ′  +  x B ′ - x O ′  , ⁢ Y scale = ( y O - y A ) + ( y B - y O )  y O ′ - y A ′  +  y O ′ - y B ′  ; wherein X scale is a horizontal calibration coefficient, Y scale is a vertical calibration coefficient, x O is a horizontal coordinate of the first calibration point, y O is a vertical coordinate of the first calibration point, x A is a horizontal coordinate of the second calibration point, y A is a vertical coordinate of the second calibration point, x B is a horizontal coordinate of the third calibration point, y B is a vertical coordinate of the third calibration point, x′ O is a horizontal coordinate of the first calibration pupil position when the user is gazing at the first calibration point in the first calibration virtual image, y′ O is a vertical coordinate of the first calibration pupil position when the user is gazing at the first calibration point in the first calibration virtual image, x′ A is a horizontal coordinate of the second calibration pupil position when the user is gazing at the second calibration point in the second calibration virtual image, y′ A is a vertical coordinate of the second calibration pupil position when the user is gazing at the second calibration point in the second calibration virtual image, x′ B is a horizontal coordinate of the third calibration pupil position when the user is gazing at the third calibration point in the third calibration virtual image, and y′ B is a vertical coordinate of the third calibration pupil position when the user is gazing at the third calibration point in the third calibration virtual image.

6. The virtual reality interaction apparatus of claim 1 , wherein the memory further stores computer-executable instructions for controlling the one or more processors to: based on a plurality of reference pupil images acquired during a time period, determine a total number of times, N, the gaze point is in the activatable region of the virtual image during the time period; execute a first operation in a first interaction mode based on a determination of N2>N≥N1, and resetting N to zero; execute a second operation in a second interaction mode based on a determination of N3>N≥N2, and resetting N to zero; execute a third operation in a third interaction mode based on a determination of N≥N3, and resetting N to zero; and execute no operation based on a determination of N<N1; wherein N 1 <N 2 <N 3 .

7. The virtual reality interaction apparatus of claim 1 , wherein the memory stores computer-executable instructions for controlling the one or more processors to: determine a pupil position of a single eye of a user in a reference pupil image of the single eye of the user; determine a gaze point of the single eye in the virtual image based on the pupil position of the single eye in the reference pupil image of the single eye and the mapping relationship between the first coordinates in the first coordinate system of the reference pupil image of the single eye and the second coordinates in the second coordinate system of the virtual image; determine whether the gaze point of the single eye is in an activatable region of the virtual image; determine a gaze state of the single eye of the user; and execute the operation based on a determination that the gaze point of the single eye is in the activatable region of the virtual image and a determination of the gaze state of the single eye.

8. A virtual reality display apparatus, comprising the virtual reality interaction apparatus of claim 1 .

9. The virtual reality display apparatus of claim 8 , further comprising a camera configured to acquire a reference pupil image of the user.

10. The virtual reality display apparatus of claim 9 , further comprising one or more infrared light sources.

11. A computer-program product comprising a non-transitory tangible computer-readable medium having computer-readable instructions thereon, the computer-readable instructions being executable by a processor to cause the processor to perform: determining a pupil position in a reference pupil image of a user; determining a gaze point in a virtual image based on the pupil position in the reference pupil image and a mapping relationship between first coordinates in a first coordinate system of the reference pupil image and second coordinates in a second coordinate system of the virtual image; executing an operation based on a determination that the gaze point is in an activatable region of the virtual image and a determination of a gaze state; determining the mapping relationship between the first coordinates in the first coordinate system of the reference pupil image and the second coordinates in the second coordinate system of the virtual image; wherein the determining the mapping relationship comprises: selecting a first calibration point, a second calibration point, and a third calibration point in the virtual image, the first calibration point, the second calibration point, and the third calibration point being non-collinear; displaying the first calibration point in a first calibration virtual image, the second calibration point in a second calibration virtual image, and the third calibration point in a third calibration virtual image; acquiring a first calibration pupil image captured when the user is gazing at the first calibration point in the first calibration virtual image, a second calibration pupil image captured when the user is gazing at the second calibration point in the second calibration virtual image, and a third calibration pupil image captured when the user is gazing at the third calibration point in the third calibration virtual image; determining a first calibration pupil position in the first calibration pupil image, a second calibration pupil position in the second calibration pupil image, and a third calibration pupil position in the third calibration pupil image; and calculating a gaze calibration coefficient based on the first calibration pupil position, the second calibration pupil position, the third calibration pupil position, and positions of the first calibration point, the second calibration point, and the third calibration point in the virtual image.

12. A virtual reality interaction method, comprising: acquiring a reference pupil image of a user; determining a pupil position in the reference pupil image; determining a gaze point in a virtual image based on the pupil position in the reference pupil image and a mapping relationship between first coordinates in a first coordinate system of the reference pupil image and second coordinates in a second coordinate system of the virtual image; executing an operation based on a determination that the gaze point is in an activatable region of the virtual image and a determination of a gaze state; and determining the mapping relationship between the first coordinates in the first coordinate system of the reference pupil image and the second coordinates in the second coordinate system of the virtual image; wherein the determining the mapping relationship comprises: selecting a first calibration point, a second calibration point, and a third calibration point in the virtual image, the first calibration point, the second calibration point, and the third calibration point being non-collinear; displaying the first calibration point in a first calibration virtual image, the second calibration point in a second calibration virtual image, and the third calibration point in a third calibration virtual image; acquiring a first calibration pupil image captured when the user is gazing at the first calibration point in the first calibration virtual image, a second calibration pupil image captured when the user is gazing at the second calibration point in the second calibration virtual image, and a third calibration pupil image captured when the user is gazing at the third calibration point in the third calibration virtual image; determining a first calibration pupil position in the first calibration pupil image, a second calibration pupil position in the second calibration pupil image, and a third calibration pupil position in the third calibration pupil image; and calculating a gaze calibration coefficient based on the first calibration pupil position, the second calibration pupil position, the third calibration pupil position, and positions of the first calibration point, the second calibration point, and the third calibration point in the virtual image.

13. The virtual reality interaction method of claim 12 , wherein further comprising: determining whether the gaze point is in the activatable region of the virtual image; and determining the gaze state of the user.

14. The virtual reality interaction method of claim 12 , wherein determining the pupil position in the reference pupil image comprises: performing a noise filtering process on the reference pupil image to generate a filtered image; separating an image of pupil from the filtered image; removing interference points from the image of pupil; ellipse fitting edge points of the image of pupil subsequent to removing the interference points to obtain an elliptical pupil region; and calculating a central point of the elliptical pupil region, thereby determining the pupil position.

15. The virtual reality interaction method of claim 12 , wherein the gaze calibration coefficient is expressed as: X scale = ( x O - x A ) + ( x B - x O )  x O ′ - x A ′  +  x B ′ - x O ′  , ⁢ Y scale = ( y O - y A ) + ( y B - y O )  y O ′ - y A ′  +  y O ′ - y B ′  ; wherein X scale is a horizontal calibration coefficient, Y scale is a vertical calibration coefficient, x O is a horizontal coordinate of the first calibration point, y O is a vertical coordinate of the first calibration point, x A is a horizontal coordinate of the second calibration point, y A is a vertical coordinate of the second calibration point, x B is a horizontal coordinate of the third calibration point, y B is a vertical coordinate of the third calibration point, x′ O is a horizontal coordinate of the first calibration pupil position when the user is gazing at the first calibration point in the first calibration virtual image, y′ O is a vertical coordinate of the first calibration pupil position when the user is gazing at the first calibration point in the first calibration virtual image, x′ A is a horizontal coordinate of the second calibration pupil position when the user is gazing at the second calibration point in the second calibration virtual image, y′ A is a vertical coordinate of the second calibration pupil position when the user is gazing at the second calibration point in the second calibration virtual image, x′ B is a horizontal coordinate of the third calibration pupil position when the user is gazing at the third calibration point in the third calibration virtual image, and y′ B is a vertical coordinate of the third calibration pupil position when the user is gazing at the third calibration point in the third calibration virtual image.

17. The virtual reality interaction method of claim 12 , wherein executing the operation based on the determination that the gaze point is in the activatable region of the virtual image and the determination of the gaze state comprises: acquiring a plurality of reference pupil images during a time period; determining a total number of times, N, the gaze point is in the activatable region of the virtual image during the time period based on the plurality of reference pupil images; executing a first operation in a first interaction mode based on a determination of N2>N≥N1, and resetting N to zero; executing a second operation in a second interaction mode based on a determination of N3>N≥N2, and resetting N to zero; executing a third operation in a third interaction mode based on a determination of N≥N3, and resetting N to zero; and executing no operation based on a determination of N<N1; wherein N 1 <N 2 <N 3 .

18. The virtual reality interaction method of claim 12 , wherein acquiring the reference pupil image of the user comprises acquiring a reference pupil image of a single eye of the user; determining the pupil position in the reference pupil image comprises determining the pupil position of the single eye in the reference pupil image of the single eye of the user; determining the gaze point in the virtual image comprises determining a gaze point of the single eye in the virtual image; and executing the operation is based on a determination that the gaze point of the single eye is in the activatable region of the virtual image and a determination of a gaze state of the single eye.